package us.oh.k12.wkw.robot.command;

import edu.wpi.first.wpilibj.command.StartCommand;
import edu.wpi.first.wpilibj.command.WaitCommand;

//Max - CMD group currently not working
public class LauncherFire4Cmd extends CommandGroupBase {

	public LauncherFire4Cmd() {

		super("LauncherFire4Cmd");

                try {
                    
                this.addSequential(new StopCompressorCmd());
                
                
                this.addSequential(new LauncherAnglePidDisableCmd());
                this.addSequential(new LauncherAngleMotorHoldCmd());
		
		this.addSequential(new LauncherMotorStartCmd());
              
		this.addSequential(new WaitCommand(3.1));
		this.addSequential(new LauncherPlungerRetractCmd());
                this.addSequential(new WaitCommand(.2));
                this.addSequential(new LauncherPlungerFireCmd());
                this.addSequential(new LauncherFeedFrisbeeCmd());
                this.addSequential(new WaitCommand(.8));
                this.addSequential(new LauncherPlungerRetractCmd());
                this.addSequential(new WaitCommand(.2));
                this.addSequential(new LauncherPlungerFireCmd());
                this.addSequential(new LauncherFeedFrisbeeCmd());
                this.addSequential(new WaitCommand(.8));
                this.addSequential(new LauncherPlungerRetractCmd());
                this.addSequential(new WaitCommand(.2));
                this.addSequential(new LauncherPlungerFireCmd());
                this.addSequential(new LauncherFeedFrisbeeCmd());
                this.addSequential(new WaitCommand(.85));
                this.addSequential(new LauncherPlungerRetractCmd());
                this.addSequential(new WaitCommand(.2));
                this.addSequential(new LauncherPlungerFireCmd());
                this.addSequential(new WaitCommand(.3));
                
		this.addSequential(new LauncherMotorStopCmd());
                
                this.addSequential(new StartCompressorCmd());
                this.addSequential(new LauncherAngleStopCmd());
                

	}   catch (Exception anEx) {
			this.error("SpinCmd()", anEx);
		}
        }
}



